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    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/66778

    Title: Study of Wireless Inertial Sensing System and Limb Motion Trajectory Reconstruction
    Authors: 黃鉦傑;Huang,Jheng-Jie
    Contributors: 生物醫學工程研究所
    Keywords: 無線慣性感測器;經驗模態分解;頻譜分析;軌跡重建;wireless inertial sensing system;EMD;spectral analysis;trajectory reconstruction
    Date: 2015-01-29
    Issue Date: 2015-03-16 15:32:48 (UTC+8)
    Publisher: 國立中央大學
    Abstract: 本研究之目的在於開發多通道無線慣性感測系統及建構出上肢軌跡機重建演算法。本研究藉由九軸慣性感測器及ZigBee無線傳輸模組架構量測裝置並存取動作訊號,並利用經驗模態分解法、傅立葉分析與四元素法結合開發出軌跡演算重建方法演算上肢運動軌跡。此演算法利用經驗模態分解法與傅立葉轉換降低量測訊號之雜訊並藉由頻譜將角速度訊號轉換為角位移訊號,再利用四元素及空間旋轉矩陣轉換相對坐標系及絕對坐標系演算人體上之於空間座標之位置。
    ;The purpose of this study is developing a wireless inertial sensing system and limb motion reconstruction algorithm. In this study, we employ two of nine-axis inertial measurement units and ZigBee wireless transmission module to consist a wireless inertial sensing device for acquiring motion signals. Then, combine EMD, spectral analysis and quaternion to develop algorithm for reconstructing the trajectory of limb motion. The algorithm employ quaternion as rotation matrix used to translate the coordinate between global coordinate and relative coordinate. EMD and spectral analysis are considered as filter to reduce noise of inertial signals and used to obtain angular displacement of each joint. After obtaining the angular displacement of each joint, the kinematic model will be applied for trajectory reconstruction.
    As the verification of developed algorithms, we employ developed device and applied algorithm to reconstruct trajectories of designed motion of robotic arm and limb. The result of the experiment shows that the algorithm can be used to reconstruct the limb motion trajectory of multiple joints with different initial position and attitude, and estimate the rotation angles of multiple joints in 3-D space.
    Appears in Collections:[生物醫學工程研究所 ] 博碩士論文

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